EP2163787B1 - 3d nockenmechanismus - Google Patents

3d nockenmechanismus Download PDF

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Publication number
EP2163787B1
EP2163787B1 EP08765066A EP08765066A EP2163787B1 EP 2163787 B1 EP2163787 B1 EP 2163787B1 EP 08765066 A EP08765066 A EP 08765066A EP 08765066 A EP08765066 A EP 08765066A EP 2163787 B1 EP2163787 B1 EP 2163787B1
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EP
European Patent Office
Prior art keywords
cam
follower
dimensional
side link
dimensional cam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08765066A
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English (en)
French (fr)
Other versions
EP2163787A4 (de
EP2163787A1 (de
Inventor
Takayuki Takahashi
Seong Hee Jeong
Yoshihito Ozawa
Kunio Shimada
Yaoyang Zheng
Kazuhiko Fukuda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fukushima University NUC
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Fukushima University NUC
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Filing date
Publication date
Application filed by Fukushima University NUC filed Critical Fukushima University NUC
Publication of EP2163787A1 publication Critical patent/EP2163787A1/de
Publication of EP2163787A4 publication Critical patent/EP2163787A4/de
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Publication of EP2163787B1 publication Critical patent/EP2163787B1/de
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H53/00—Cams ; Non-rotary cams; or cam-followers, e.g. rollers for gearing mechanisms
    • F16H53/06—Cam-followers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating
    • Y10T74/18288—Cam and lever
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/21—Elements
    • Y10T74/2101—Cams

Definitions

  • the present invention relates to a three-dimensional cam mechanism, which is configured such that a follower side link pivotally supported to a portion of a supporting member is guided along a cam guide surface of a three-dimensional cam pivotally supported to the supporting member to be rotatable about a predetermined rotation axis.
  • the present invention can be applied to, for example, an endoscope, a machine tool, a robot articulation, and other products.
  • the present invention can also be applied to a wide range of technical fields that require a reversible operation of a three-dimensional cam where a follower side is a driving joint.
  • an articulating mechanism such as a finger of a robot
  • lightweight and non-backlash characteristics have conventionally been required in order to improve the safety and obtain highly accurate control characteristics.
  • the structure of the articulating mechanism be simple and various target articular movements be performed in a wide articular movable range.
  • the articulating mechanism needs to have a structure with no reverse drive performance, depending on the use application of a joint.
  • Patent Document 1 The invention disclosed in Patent Document 1 is provided with, as shown in Fig. 4 , a cam main body 104 performing a rotational movement and a follower 105 engaged with the cam main body 104 and performing a swinging movement, wherein: the rotational movement is translated into the swinging movement; the cam main body 104 is provided with a guide surface 111 formed with a closed curve and formed such that an external shape E of this region constitutes an arc line; the follower 105 is engaged with the guide surface 111; and the rotation axis center is nonrotatably connected to a shaft 106 passing through the center of the external shape E.
  • a cam type power transmission mechanism 201 which transmits a rotation power between first and second rotating shafts 202, 203 arranged so that rotation center lines 202a, 203a thereof cross each other at a predetermined angle, has a cam 204 attached to the first rotating shaft 202 and a cam follower 205 attached to the second rotating shaft 203, wherein in the cam 204, a cut face obtained by cutting a spherical body in a curved face or a flat face is formed as a cam face 204a, and the first rotation center line 202a is connected to the first rotating shaft 202 so as to pass the center of the spherical body, and the cam follower 205 has a roller 205e attached to the second rotating shaft 203 so as to draw a circular track with a predetermined radius around the rotation center line 203a of the second rotating shaft 203.
  • the roller 205e of the cam follower 205 When one rotating shaft is rotated, the roller 205e of the cam follower 205 relatively
  • the cam surface 204a of the three-dimensional cam 204 that determines the operation on the follower side having the cam follower 205 is generated by cutting the spherical body in the curved face or the flat face, and, unlike the gear type or wire type articulating mechanism, it is not necessary to increase backlash or provide a tension adjusting mechanism and a wire turning mechanism. Also, reduction in the number of parts and lowering of the control characteristics due to stretching and interference of the wire no longer occur.
  • the cam surface 204a is generated by cutting the spherical body in the curved face or the flat face, the behavior on the cam follower 205 side, i.e., the follower side, is limited, and guiding is performed by the cam surface 204a and the roller 205e of the cam follower 205 at only one point, whereby the transmission of the power by the cam mechanism tends to become unstable.
  • US 1,980,527 which constitutes the closet prior art, discloses a means for converting rotary motion into reciprocatory motion comprising a cam disk with an eccentric groove portion, wherein a follower moves such that a rotational movement of the rotary disk is translated into a swing motion of a link connected to the rotational disk by a link portion.
  • JP 2002-529265 A discloses a driver mechanism of double spherical cam type that uses two different cams formed on two ends of a rotary hollow cylinder, wherein the cylinder is fixed to a platform via a column element. Two right angled levers are fixed to the hollow cylinder, at least one of their ends acting as a cam follower and their other free end driving the final user slide.
  • an object of the present invention is to solve the problems of the conventional three-dimensional cam mechanisms, and to provide a three-dimensional cam mechanism, which is capable of selecting a cam guide surface shape freely to drastically improve the degree of freedom for selecting a target locus on the follower side, transmitting not only a power between orthogonal axes but also a strong and reliable power, and performing a reversible operation.
  • a means of a technical solution employed by the present invention is a three-dimensional cam mechanism, including: a three-dimensional cam configured to be pivotally supported to a supporting member to be rotatable about a predetermined rotation axis and to have a cam guide face; and a follower side link pivotally supported to another portion of the supporting member to be guided along the cam guide surface, wherein the cam guide face is shaped into a three-dimensional configuration, the follower side link being formed at its one end with a cam follower which extends at a predetermined angle with respect to the follower side link to be guided along the cam guide surface for translating a rotational movement of the three-dimensional cam into a swinging movement at the other end of the follower side link.
  • the present invention is also characterized in that the three-dimensional cam and the follower side link are configured to translate the swinging movement of the follower side link into the rotational movement of the three-dimensional cam.
  • the present invention is characterized in that the three-dimensional cam has at least one pair of the cam guide surfaces which are independent from each other with a predetermined interval therebetween, and the follower side link has one pair of the cam followers respectively in association with the cam guide surfaces.
  • the present invention is further characterized in that a guide roller is pivotally supported to the cam follower of the follower side link to be guided along the cam guide surface of the three-dimensional cam.
  • the present invention is characterized in that one of the cam follower and the follower side link is provided with biasing means which urges the cam follower or the guide roller of the follower side link against the cam guide surface of the three-dimensional cam.
  • the present invention is also characterized in that the supporting member is divided into an upper part and a lower part which are rotatable relative to each other.
  • Fig. 1 is an overall perspective view illustrating the principle of a first embodiment of a three-dimensional cam mechanism according to the present invention.
  • Fig. 2 is a front elevational view showing a cam operation performed by the three-dimensional cam mechanism of the present invention.
  • Fig. 3 is an overall perspective view showing a second embodiment of the three-dimensional cam mechanism according to the present invention.
  • Embodiment 1 is now described.
  • the basic configuration of the three-dimensional cam mechanism of the present invention is characterized in that, in a three-dimensional cam mechanism, which is configured such that a follower side link 4 pivotally supported to a part of a supporting member 5 is guided to a cam guide surface 2 of a three-dimensional cam 1 pivotally supported to the supporting member 5 and rotating about a predetermined rotation axis 1 A, as shown in the first embodiment in Fig. 1 , a three-dimensional cam guide surface 2 (3) is formed in the three-dimensional cam 1, and a cam follower 6 (7) formed at a predetermined angle at one end of the follower side link 4 is guided to the cam guide surface 2, to translate a rotational movement of the three-dimensional cam 1 into a swinging movement of the other end of the follower side link 4.
  • a three-dimensional cam mechanism in which a three-dimensional cam joint realizing a robot arm or a target trajectory of a finger is configured is structured as follows. Note that Fig. 1 shows the embodiment in which a pair of the cam guide surfaces 2, 3 of the three-dimensional cam 1 and a pair of the cam followers 6, 7 or guide rollers 8, 9 of the follower side link 4 corresponding thereto are disposed.
  • one of the cam followers 6 (7) may be formed in the follower side link 4, or means for pivotally supporting the guide roller 8 (9) to the cam follower 6 (7) of the follower side link 4 and biasing the guide roller 8 (9) to the cam guiding surface 2 (3) of the three-dimensional cam 1 may be effectively disposed, to obtain the cam guide surface and one of the cam follower and the guide roller.
  • one pair of the cam guide surfaces 2, 3 and one pair of the cam followers 6, 7 or guide rollers 8, 9 are disposed is explained. Three of the cam guide surfaces and the cam followers or guide rollers may be disposed.
  • the three-dimensional cam 1 is pivotally supported to the vertical supporting member 5 so as to be rotatable around the predetermined cam rotation axis 1A (disposed substantially horizontally in the illustrated example).
  • One pair of the independent three-dimensional cam guide surfaces 2, 3 is formed in the three-dimensional cam 1.
  • the cam guide surfaces 2, 3 are provided such that the radius of the three-dimensional cam 1 increases gradually as it continues to rotate from the illustrated condition.
  • the height of a rotation axis direction of the cam may be changed.
  • the profiles of the height and radius change in accordance with the design of the swing angles of the cam followers.
  • Each of the cam guide surfaces 2, 3 is formed with an independent guide surface three-dimensionally, and the guide rollers 8, 9 that are pivotally supported respectively to the pair of cam followers 6, 7 formed at a predetermined angle (substantially orthogonally in the illustrated example) at one end of the follower side link 4 are guided and caused to travel.
  • the follower side link 4 swings about a follower joint rotation axis 4A that is substantially orthogonal to the cam rotation axis 1A at an upper part of the supporting member 5 (the follower joint rotation axis 4A can be disposed not at a right angle but at any intersection angle by selecting the shape of the supporting member 5 and the shape of the cam guide surfaces 2, 3).
  • the other end part of the follower side link 4 constitutes a target trajectory of a robot arm or a finger, as shown by the arrow.
  • Generation of one pair of the three-dimensional independent cam guide surfaces 2, 3 of the three-dimensional cam 1 is designed such that the behavior of the other end part of the follower side link 4 becomes the target trajectory of a robot arm or a finger.
  • the angle between the cam followers 6, 7 (the angle that is configured by the cam followers 6 and 7 so as to match the angle of the cam followers 6, 7 with respect to the follower side link 4 and the angle formed by the cam guide surfaces 2, 3 so as to match the shape of the cam guide surfaces 2, 3) can be set appropriately, and the regular rotation of the three-dimensional cam 1 can be translated into the irregular swinging movement of the follower side link 4.
  • biasing means is provided in order to push the pair of guide rollers 8, 9 of the follower side link 4 to the cam guide surfaces 2, 3 of the three-dimensional cam 1 respectively.
  • a spring may be stretched tightly between the pair of cam followers 6, 7, or each of the cam followers 6, 7 may be biased by a coil spring or the like to the cam guide surfaces 2, 3 side with respect to the follower side link 4. In this manner, a reliable contact guide function can be exerted between the three-dimensional cam 1 and the follower side 4, further improving the transmission accuracy.
  • the follower joint rotation axis 4A of the supporting member 5 is fixed to, for example, an external cover that is not shown, but it may not necessarily be a fixing part, depending on equipment to be applied.
  • the cam rotation axis 1 A of the three-dimensional cam 1 can swing around the follower joint rotation axis 4A, from the illustrated horizontal state.
  • the cam rotation axis 1A can rotate the three-dimensional cam 1 while swinging around the follower joint rotation axis 4A by taking the length of a vertical direction of the supporting member 5 as an arm.
  • Fig. 2 is a front elevational view showing a cam operation performed by the three-dimensional cam mechanism of the present invention.
  • the solid lines show the condition shown in Fig. 1 .
  • the guide rollers 8, 9 that are pivotally supported respectively to the pair of cam followers 6, 7 formed at a predetermined angle at one end of the follower side link 4 are guided and caused to travel to the cam guide surfaces 2, 3 of the three-dimensional cam 1.
  • the radius of each of the cam guide surfaces 2, 3 stretched from the cam rotation axis 1 A increases gradually.
  • the height of a rotation axis direction of the cam may be changed.
  • the profiles of the height and radius change in accordance with the design of the swing angles of the cam followers.
  • the follower side link 4 swings around the follower joint rotation axis 4A as shown by the arrow.
  • the dashed lines show the positions of the cam guide surfaces 2, 3 that are obtained by rotating the three-dimensional cam 1 180 degrees, as well as the positions of guide rollers 8', 9' guided by the cam guide surfaces 2, 3 and a follower side link 4'.
  • Stoppers 2A, 2B are installed in a start end part of each cam guide surface 2, 3 and stoppers 3A (not shown), 3B are installed in a tail end part of the same, to prevent the guide rollers 8, 9 to be separated from the three-dimensional cam 1.
  • the present invention can be designed such that the follower side link 4 can be caused to swing upward by reversely rotating the three-dimensional cam 1.
  • the cam guide surfaces 2, 3 can be designed easily so that a reversal operation where the three-dimensional cam 1 is rotated by swinging the follower side link 4 can be performed.
  • the shape of the cam guide surfaces 2, 3 capable of performing the reversal operation can be realized by allowing a torque, which is generated when the guide rollers 8, 9 press the cam guide surfaces 2, 3, to exceed the magnitude of a torque required for rotating the three-dimensional cam 1.
  • Embodiment 2 is now described.
  • Fig. 3 is an overall perspective view showing a second embodiment of the three-dimensional cam mechanism according to the present invention.
  • a lower part rotatably and pivotally supports the three-dimensional cam 1 by means of the cam rotation axis 1 A, while an upper part divides the supporting member 5 swingably and pivotally supporting the follower side link 4 by means of the follower joint rotation axis 4A into an upper part and a lower part, and these upper and lower supporting member are relatively rotatable to each other by means of a supporting part rotation axis 5A.
  • each cam guide surfaces 2, 3 of the three-dimensional cam 1 By appropriately selecting the three-dimensional shape of each cam guide surfaces 2, 3 of the three-dimensional cam 1, the abovementioned configuration can allow the follower side link 4 to swing by swinging the cam rotation axis 1 A around the follower joint rotation axis 4A by taking the length of the vertical direction of the supporting member 5 as an arm, as well as by rotating the three-dimensional cam 1 while changing the intersection angle of the cam rotation axis 1A with respect to the follower joint rotation axis 4A on a planar view.
  • a predetermined twist angle may be obtained so as to realize a relative rotation mode, such as a configuration where the upper part and the lower part can freely rotatable relative to each other and be fixed freely at every predetermined angle), the form of the supporting member, the pivotal support mode of the cam rotation axis and the follower joint rotation axis in the supporting member (the pivotal support mode where a bearing or a metal is used), the shape and form of the three-dimensional cam, the shape of the cam guide surfaces (a three-dimensional and independent appropriate shape is employed, but the width, interval, surface processing mode and the like of the pair of cam guide surfaces can be selected appropriately), the shape of the follower side link (in the illustrated example, it is in the shape of a straight rod like body, but the cross-sectional shape can be freely selected, and an arm shape or various other shapes can be employed by freely), the form of the follower side link, the installation mode of the cam followers in the follower side link, the angle formed by the pair of cam followers
  • a three-dimensional cam guided surface is formed in the three-dimensional cam, and a cam follower formed at a predetermined angle at one end of the follower side link is guided to the cam guide surface, to translate a rotational movement of the three-dimensional cam into a swinging movement at the other end of the follower side link.
  • the cam guide surface shape can be selected freely to drastically improve the degree of freedom for selecting the target locus on the follower side, and smooth operations of the three-dimensional cam can be obtained not only by the selection of the shape of the supporting member but also by the free design of the cam guide surface shape, without being neither limited to the power transmission between the orthogonal axes nor followed by the backlash.
  • a reversible operation of the three-dimensional cam where the follower side is a driving joint can be obtained easily.
  • the three-dimensional cam has at least one pair of the cam guide surfaces which are independent from each other with a predetermined interval therebetween, and the follower side link has one pair of the cam followers respectively in association with the cam guide surfaces, a strong and reliable power can be transmitted by at least the pair of cam followers that are guided to at least the pair of cam guide surfaces respectively.
  • a strong and reliable power can be transmitted by at least the pair of cam followers that are guided to at least the pair of cam guide surfaces respectively.
  • guiding is performed smoothly by the rotation of the guide rollers, and not only the reversal operation but also the operation of the three-dimensional cam can be performed smoothly.
  • the biasing means for biasing the cam follower or the guide roller of the follower side link against the cam guide surface of the three-dimensional cam is installed in the cam follower or the follower side link, the secure contact guide function is exerted between the three-dimensional cam and the follower side so that a shaky movement is prevented, further improving the transmission accuracy.
  • the supporting member is divided into an upper part and a lower part which are rotatable relative to each other, the angular relationship between the rotation axis of the three-dimensional cam and a swinging axis of the follower side can be selected freely.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Claims (5)

  1. Dreidimensionale Mitnehmersteuerung mit:
    einer dreidimensionalen Nocke (1), die ausgebildet ist, um schwenkbar an einem Halteelement (5) befestigt zu sein, so dass sie um eine vorbestimmte Nockenrotationsachse (1A) drehbar ist und eine Nockenführungsoberfläche (2, 3) aufweist;
    und
    einer Nachlaufseitenverbindung (4), die schwenkbar an einem anderen Teil des Halteelementes (5) angeordnet ist, um entlang der Mitnehmerführungsoberfläche (2, 3) geführt zu werden,
    wobei die Nockenführungsoberfläche (2, 3) als eine dreidimensionale Anordnung ausgestaltet ist,
    wobei die Nachlaufseitenverbindung (4) an ihrem einen Ende mit einem Nockenmitnehmer (6, 7), der sich in einem vorbestimmten Winkel in Bezug auf die Nachlaufseitenverbindung (4) erstreckt, gebildet ist, um entlang der Nockenführungsoberfläche (2, 3) geführt zu werden, so dass eine Rotationsbewegung der dreidimensionalen Nocke (1) in eine Schwingbewegung an dem anderen Ende der Nachlaufseitenverbindung (4) übersetzt wird,
    wobei die Nockenführungsoberfläche (2, 3) derart ausgebildet ist, dass ein Radius der dreidimensionalen Nocke (1) von der Nockenrotationsachse (1A) suksessiv sich vergrößert und eine Höhe einer Drehachsenrichtung der Nocke (1) sich ändert, wenn die dreidimensionale Nocke (1) gedreht wird,
    wobei die dreidimensionale Nocke (1) zumindest ein Paar von Nockenführungsoberflächen (2, 3) aufweist, die unabhängig voneinander sind,
    dadurch gekennzeichnet, dass
    die Nachlaufseitenverbindung (4) ein den Nockenführungsoberflächen (2, 3) entsprechend zugehöriges Paar von Nockenmitnehmern (6, 7) aufweist.
  2. Dreidimensionale Mitnehmersteuerung nach Anspruch 1, wobei die dreidimensionale Nocke (1) und die Nachlaufseitenverbindung (4) ausgebildet sind, um eine Schwingbewegung der Nachlaufseitenverbindung (4) in einer Drehbewegung der dreidimensionalen Nocke (1) zu übersetzen.
  3. Dreidimensionale Mitnehmersteuerung nach Anspruch 1 oder Anspruch 2, wobei ein Führungsroller (8, 9) schwenkbar an dem Nockenmitnehmer (6, 7) angeordnet ist, um entlang der Nockenführungsoberfläche (2, 3) des dreidimensionalen Nockens (1) geführt zu werden.
  4. Dreidimensionale Mitnehmersteuerung nach Anspruch 3, wobei der Nockenmitnehmer (6, 7) oder die Nachlaufseitenverbindung (4) mit Vorspannmitteln ausgebildet sind, welche den Nockenmitnehmer (6, 7) oder die Führungsroller (8, 9) gegen die Nockenführungsoberfläche (2, 3) des dreidimensionalen Nockens (1) drücken.
  5. Dreidimensionale Mitnehmersteuerung nach einem der Ansprüche 1 bis 4, wobei das Halteelement (5) in einen oberen Teil und einen unteren Teil unterteilt ist, welche relativ zueinander drehbar sind.
EP08765066A 2007-05-31 2008-05-28 3d nockenmechanismus Active EP2163787B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007144504A JP4388566B2 (ja) 2007-05-31 2007-05-31 立体カム機構
PCT/JP2008/060253 WO2008149878A1 (ja) 2007-05-31 2008-05-28 立体カム機構

Publications (3)

Publication Number Publication Date
EP2163787A1 EP2163787A1 (de) 2010-03-17
EP2163787A4 EP2163787A4 (de) 2011-05-04
EP2163787B1 true EP2163787B1 (de) 2012-10-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP08765066A Active EP2163787B1 (de) 2007-05-31 2008-05-28 3d nockenmechanismus

Country Status (5)

Country Link
US (1) US8418572B2 (de)
EP (1) EP2163787B1 (de)
JP (1) JP4388566B2 (de)
CA (1) CA2688597C (de)
WO (1) WO2008149878A1 (de)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2011155070A1 (ja) * 2010-06-11 2013-08-01 国立大学法人福島大学 手術支援ロボット用のパラレルマニピュレータ
JP6010815B2 (ja) * 2012-04-27 2016-10-19 国立研究開発法人量子科学技術研究開発機構 楕円軌道回転装置及びｐｅｔ装置
JP6634059B2 (ja) 2017-10-16 2020-01-22 シナノケンシ株式会社 カム型ハンド機構
JP6342567B1 (ja) 2017-11-16 2018-06-13 シナノケンシ株式会社 カム型ハンド機構
JP6663058B1 (ja) * 2019-02-28 2020-03-11 シナノケンシ株式会社 ロボットハンド
JP6937418B2 (ja) * 2019-10-11 2021-09-22 シナノケンシ株式会社 ロボットハンド

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1980527A (en) * 1933-08-18 1934-11-13 Collins & Aikman Corp Mechanical movement
FR1427742A (fr) * 1964-11-13 1966-02-11 Roannais Constr Textiles Dispositif de came et de galet
JPS5831461A (ja) 1981-08-19 1983-02-24 Fujitsu Ltd 磁気テ−プ装置の制御方式
JPS5831461U (ja) * 1981-08-25 1983-03-01 三菱電機株式会社 カム機構
DE4233636A1 (de) 1992-10-06 1994-04-07 Sulzer Ag Vorrichtung zum Antreiben eines Greiferbandes und Greiferwebmaschine mit einer derartigen Vorrichtung
IT1306451B1 (it) 1998-11-13 2001-06-11 Colombo Filippetti Spa Congegno di movimentazione a doppia camma sferica ad ingombroesiguo,per automatismi meccanici.
JP2004346959A (ja) 2003-05-20 2004-12-09 Harmonic Drive Syst Ind Co Ltd カム式動力伝達機構

Also Published As

Publication number Publication date
CA2688597A1 (en) 2008-12-11
US20100116072A1 (en) 2010-05-13
WO2008149878A1 (ja) 2008-12-11
JP4388566B2 (ja) 2009-12-24
CA2688597C (en) 2012-10-16
EP2163787A4 (de) 2011-05-04
EP2163787A1 (de) 2010-03-17
US8418572B2 (en) 2013-04-16
JP2008298165A (ja) 2008-12-11

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